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backport lidar visualization frame_id fix
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Signed-off-by: Ian Chen <[email protected]>
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@iche033
iche033 committed Jul 18, 2024
1 parent a2a9c53 commit 9277c0b
Showing 1 changed file with 52 additions and 78 deletions.
130 changes: 52 additions & 78 deletions src/gui/plugins/visualize_lidar/VisualizeLidar.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -82,9 +82,6 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
public: rendering::LidarVisualType visualType{
rendering::LidarVisualType::LVT_TRIANGLE_STRIPS};

/// \brief URI sequence to the lidar link
public: std::string lidarString{""};

/// \brief LaserScan message from sensor
public: msgs::LaserScan msg;

Expand Down Expand Up @@ -122,7 +119,7 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
public: bool visualDirty{false};

/// \brief lidar sensor entity dirty flag
public: bool lidarEntityDirty{true};
public: bool lidarEntityDirty{false};
};
}
}
Expand Down Expand Up @@ -266,63 +263,39 @@ void VisualizeLidar::Update(const UpdateInfo &,

if (this->dataPtr->lidarEntityDirty)
{
auto lidarURIVec = common::split(common::trimmed(
this->dataPtr->lidarString), "::");
if (lidarURIVec.size() > 0)
std::string topic = this->dataPtr->topicName;
auto lidarEnt =
_ecm.EntityByComponents(components::SensorTopic(topic));
if (lidarEnt == kNullEntity)
{
auto baseEntity = _ecm.EntityByComponents(
components::Name(lidarURIVec[0]));
if (!baseEntity)
{
ignerr << "Error entity " << lidarURIVec[0]
<< " doesn't exist and cannot be used to set lidar visual pose"
<< std::endl;
return;
}
else
if (topic[0] == '/')
topic = topic.substr(1);
lidarEnt =
_ecm.EntityByComponents(components::SensorTopic(topic));
}

static bool informed{false};
if (lidarEnt == kNullEntity)
{
if (!informed)
{
auto parent = baseEntity;
bool success = false;
for (size_t i = 0u; i < lidarURIVec.size()-1; i++)
{
auto children = _ecm.EntitiesByComponents(
components::ParentEntity(parent));
bool foundChild = false;
for (auto child : children)
{
std::string nextstring = lidarURIVec[i+1];
auto comp = _ecm.Component<components::Name>(child);
if (!comp)
{
continue;
}
std::string childname = std::string(
comp->Data());
if (nextstring.compare(childname) == 0)
{
parent = child;
foundChild = true;
if (i+1 == lidarURIVec.size()-1)
{
success = true;
}
break;
}
}
if (!foundChild)
{
ignerr << "The entity could not be found."
<< "Error displaying lidar visual" <<std::endl;
return;
}
}
if (success)
{
this->dataPtr->lidarEntity = parent;
this->dataPtr->lidarEntityDirty = false;
}
ignerr << "The lidar entity with topic '['" << this->dataPtr->topicName
<< "'] could not be found. "
<< "Error displaying lidar visual. " << std::endl;
informed = true;
}
return;
}
informed = false;
this->dataPtr->lidarEntity = lidarEnt;
this->dataPtr->lidarEntityDirty = false;
}

if (!_ecm.HasEntity(this->dataPtr->lidarEntity))
{
this->dataPtr->resetVisual = true;
this->dataPtr->topicName = "";
return;
}

// Only update lidarPose if the lidarEntity exists and the lidar is
Expand All @@ -332,7 +305,7 @@ void VisualizeLidar::Update(const UpdateInfo &,
// data arrives, the visual is offset from the obstacle if the sensor is
// moving fast.
if (!this->dataPtr->lidarEntityDirty && this->dataPtr->initialized &&
!this->dataPtr->visualDirty)
!this->dataPtr->visualDirty)
{
this->dataPtr->lidarPose = worldPose(this->dataPtr->lidarEntity, _ecm);
}
Expand Down Expand Up @@ -379,13 +352,17 @@ void VisualizeLidar::UpdateSize(int _size)
//////////////////////////////////////////////////
void VisualizeLidar::OnTopic(const QString &_topicName)
{
std::string topic = _topicName.toStdString();
if (this->dataPtr->topicName == topic)
return;

if (!this->dataPtr->topicName.empty() &&
!this->dataPtr->node.Unsubscribe(this->dataPtr->topicName))
{
ignerr << "Unable to unsubscribe from topic ["
<< this->dataPtr->topicName <<"]" <<std::endl;
}
this->dataPtr->topicName = _topicName.toStdString();
this->dataPtr->topicName = topic;

std::lock_guard<std::mutex> lock(this->dataPtr->serviceMutex);
// Reset visualization
Expand All @@ -401,6 +378,8 @@ void VisualizeLidar::OnTopic(const QString &_topicName)
}
this->dataPtr->visualDirty = false;
ignmsg << "Subscribed to " << this->dataPtr->topicName << std::endl;

this->dataPtr->lidarEntityDirty = true;
}

//////////////////////////////////////////////////
Expand Down Expand Up @@ -488,27 +467,22 @@ void VisualizeLidar::OnScan(const msgs::LaserScan &_msg)
this->dataPtr->msg.ranges().begin(),
this->dataPtr->msg.ranges().end()));

this->dataPtr->visualDirty = true;

for (auto data_values : this->dataPtr->msg.header().data())
if (!math::equal(this->dataPtr->maxVisualRange,
this->dataPtr->msg.range_max()))
{
if (data_values.key() == "frame_id")
{
if (this->dataPtr->lidarString.compare(
common::trimmed(data_values.value(0))) != 0)
{
this->dataPtr->lidarString = common::trimmed(data_values.value(0));
this->dataPtr->lidarEntityDirty = true;
this->dataPtr->maxVisualRange = this->dataPtr->msg.range_max();
this->dataPtr->minVisualRange = this->dataPtr->msg.range_min();
this->dataPtr->lidar->SetMaxRange(this->dataPtr->maxVisualRange);
this->dataPtr->lidar->SetMinRange(this->dataPtr->minVisualRange);
this->MinRangeChanged();
this->MaxRangeChanged();
break;
}
}
this->dataPtr->maxVisualRange = this->dataPtr->msg.range_max();
this->dataPtr->lidar->SetMaxRange(this->dataPtr->maxVisualRange);
this->MaxRangeChanged();
}
if (!math::equal(this->dataPtr->minVisualRange,
this->dataPtr->msg.range_min()))
{
this->dataPtr->minVisualRange = this->dataPtr->msg.range_min();
this->dataPtr->lidar->SetMinRange(this->dataPtr->minVisualRange);
this->MinRangeChanged();
}

this->dataPtr->visualDirty = true;
}
}

Expand Down

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